From bf56afdb11af24b40299f00a59698321706e8169 Mon Sep 17 00:00:00 2001
From: cc <55869557+TomCC7@users.noreply.github.com>
Date: Fri, 7 Feb 2025 00:01:20 -0500
Subject: [PATCH] support scaled mesh in SapienPlanningWorld

---
 mplib/sapien_utils/conversion.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/mplib/sapien_utils/conversion.py b/mplib/sapien_utils/conversion.py
index c47d461..6a1ddd0 100644
--- a/mplib/sapien_utils/conversion.py
+++ b/mplib/sapien_utils/conversion.py
@@ -324,10 +324,8 @@ def convert_physx_component(
                 # FCL Capsule has z-axis along capsule height
                 shape_poses[-1] *= Pose(q=euler2quat(0, np.pi / 2, 0))
             elif isinstance(shape, PhysxCollisionShapeConvexMesh):
-                assert np.allclose(
-                    shape.scale, 1.0
-                ), f"Not unit scale {shape.scale}, need to rescale vertices?"
-                c_geom = Convex(vertices=shape.vertices, faces=shape.triangles)
+                scaled_vertices = shape.vertices * np.expand_dims(shape.scale, axis=0)
+                c_geom = Convex(vertices=scaled_vertices, faces=shape.triangles)
             elif isinstance(shape, PhysxCollisionShapeCylinder):
                 c_geom = Cylinder(radius=shape.radius, lz=shape.half_length * 2)
                 # NOTE: physx Cylinder has x-axis along cylinder height